Add contact force limitation when a contact is activated to avoid directly...
Add contact force limitation when a contact is activated to avoid directly applying a huge force (ramp shape for the limit)
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- include/quadruped-reactive-walking/InvKin.hpp 1 addition, 1 deletioninclude/quadruped-reactive-walking/InvKin.hpp
- include/quadruped-reactive-walking/QPWBC.hpp 1 addition, 1 deletioninclude/quadruped-reactive-walking/QPWBC.hpp
- python/gepadd.cpp 1 addition, 1 deletionpython/gepadd.cpp
- scripts/QP_WBC.py 16 additions, 6 deletionsscripts/QP_WBC.py
- src/QPWBC.cpp 39 additions, 2 deletionssrc/QPWBC.cpp
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